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<div class="title">VisionManager.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">// BSD 3-Clause License</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">// Copyright (c) 2017, Rishabh Biyani</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// All rights reserved.</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are met:</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice, this</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright notice,</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// this list of conditions and the following disclaimer in the documentation</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// and / or other materials provided with the distribution.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// * Neither the name of the copyright holder nor the names of its</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// contributors may be used to endorse or promote products derived from</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// this software without specific prior written permission.</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS IS&quot;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment">// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment">// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment">// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment">// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment">// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment">// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment">// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment">// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment">// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#include &lt;stdio.h&gt;</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &lt;stdlib.h&gt;</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;opencv2/opencv.hpp&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &quot;opencv2/highgui/highgui.hpp&quot;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div>
<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="class_vision_manager.html">   44</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_vision_manager.html">VisionManager</a> {</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keyword">public</span> :</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <a class="code" href="class_vision_manager.html#ad6bf36c331b096b7f8a757faad900e16">VisionManager</a>(<span class="keywordtype">float</span> length, <span class="keywordtype">float</span> breadth);</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_vision_manager.html#aa35b7459c270e9a9e98f9147c3654a5f">get2DLocation</a>(cv::Mat img, <span class="keywordtype">float</span>&amp; x, <span class="keywordtype">float</span>&amp; y);</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; <span class="keyword">private</span>:</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keywordtype">void</span> detect2DObject(<span class="keywordtype">float</span>&amp; pixel_x, <span class="keywordtype">float</span>&amp; pixel_y);</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keywordtype">void</span> convertToMM(<span class="keywordtype">float</span>&amp; pixel_mm_x, <span class="keywordtype">float</span>&amp; pixel_mm_y);</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordtype">void</span> detectTable();</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keywordtype">float</span> pixels_permm_x;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="keywordtype">float</span> pixels_permm_y;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keywordtype">float</span> curr_pixel_centre_x;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="keywordtype">float</span> curr_pixel_centre_y;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keywordtype">float</span> table_length;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keywordtype">float</span> table_breadth;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="keywordtype">float</span> img_centre_x_;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keywordtype">float</span> img_centre_y_;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="keywordtype">bool</span> pixel_size_identified;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    cv::Mat curr_img;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;};</div>
<div class="ttc" id="class_vision_manager_html"><div class="ttname"><a href="class_vision_manager.html">VisionManager</a></div><div class="ttdef"><b>Definition:</b> VisionManager.h:44</div></div>
<div class="ttc" id="class_vision_manager_html_aa35b7459c270e9a9e98f9147c3654a5f"><div class="ttname"><a href="class_vision_manager.html#aa35b7459c270e9a9e98f9147c3654a5f">VisionManager::get2DLocation</a></div><div class="ttdeci">void get2DLocation(cv::Mat img, float &amp;x, float &amp;y)</div><div class="ttdoc">Gets the 2d location of object in camera frame. </div><div class="ttdef"><b>Definition:</b> VisionManager.cpp:48</div></div>
<div class="ttc" id="class_vision_manager_html_ad6bf36c331b096b7f8a757faad900e16"><div class="ttname"><a href="class_vision_manager.html#ad6bf36c331b096b7f8a757faad900e16">VisionManager::VisionManager</a></div><div class="ttdeci">VisionManager(float length, float breadth)</div><div class="ttdoc">VisionManager Constructor. </div><div class="ttdef"><b>Definition:</b> VisionManager.cpp:42</div></div>
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